Siemens SIMOTION

Basics of Path Interpolation
2.13 Kinematic adaptation
TO Path Interpolation
Function Manual, 11/2010
61
Possible link constellations
LinkConstellation 1 Positive link position: angle of axis A
2
in the range
of [0°, 180°) relative to the kinematic zero point
2 Negative link position: Angle of axis A2 in the
range of [-180°, 0°) relative to the kinematic zero
point
$

$

$

GLVWDQFH$$
GLVWDQFH$$
GLVWDQFH$(QGSRLQW
GLVWDQFH$(QGSRLQW
1HJDWLYH
DUWLFXODWHGMRLQW
SRVLWLRQLQJ
3RVLWLYH
DUWLFXODWHGMRLQW
SRVLWLRQLQJ
(QGSRLQW
Figure 2-48 Possible link positions
2.13.3.8 Articulated arm kinematics
$
$
$
[
]
(QGSRLQW
(3
Figure 2-49 Articulated arm: Representation of the axes